@article{ART002294713},
author={Kim, Young-Ju},
title={Person Tracking by Detection of Mobile Robot using RGB-D Cameras},
journal={Journal of The Korea Society of Computer and Information},
issn={1598-849X},
year={2017},
volume={22},
number={12},
pages={17-25},
doi={10.9708/jksci.2017.22.12.017}
TY - JOUR
AU - Kim, Young-Ju
TI - Person Tracking by Detection of Mobile Robot using RGB-D Cameras
JO - Journal of The Korea Society of Computer and Information
PY - 2017
VL - 22
IS - 12
PB - The Korean Society Of Computer And Information
SP - 17
EP - 25
SN - 1598-849X
AB - In this paper, we have implemented a low-cost mobile robot supporting the person tracking by detection using RGB-D cameras and ROS(Robot Operating System) framework. The mobile robot was developed based on the Kobuki mobile base equipped with 2’s Kinect devices and a high performance controller. One kinect device was used to detect and track the single person among people in the constrained working area by combining point cloud data filtering & clustering, HOG classifier and Kalman Filter-based estimation successively, and the other to perform the SLAM-based navigation supported in ROS framework. In performance evaluation, the person tracking by detection was proved to be robustly executed in real-time, and the navigation function showed the accuracy with the mean distance error being lower than 50mm. The mobile robot implemented has a significance in using the open-source based, general-purpose and low-cost approach.
KW - Mobile Robot;ROS;RGB-D Camera;Person tracking by detection;SLAM-based navigation
DO - 10.9708/jksci.2017.22.12.017
ER -
Kim, Young-Ju. (2017). Person Tracking by Detection of Mobile Robot using RGB-D Cameras. Journal of The Korea Society of Computer and Information, 22(12), 17-25.
Kim, Young-Ju. 2017, "Person Tracking by Detection of Mobile Robot using RGB-D Cameras", Journal of The Korea Society of Computer and Information, vol.22, no.12 pp.17-25. Available from: doi:10.9708/jksci.2017.22.12.017
Kim, Young-Ju "Person Tracking by Detection of Mobile Robot using RGB-D Cameras" Journal of The Korea Society of Computer and Information 22.12 pp.17-25 (2017) : 17.
Kim, Young-Ju. Person Tracking by Detection of Mobile Robot using RGB-D Cameras. 2017; 22(12), 17-25. Available from: doi:10.9708/jksci.2017.22.12.017
Kim, Young-Ju. "Person Tracking by Detection of Mobile Robot using RGB-D Cameras" Journal of The Korea Society of Computer and Information 22, no.12 (2017) : 17-25.doi: 10.9708/jksci.2017.22.12.017
Kim, Young-Ju. Person Tracking by Detection of Mobile Robot using RGB-D Cameras. Journal of The Korea Society of Computer and Information, 22(12), 17-25. doi: 10.9708/jksci.2017.22.12.017
Kim, Young-Ju. Person Tracking by Detection of Mobile Robot using RGB-D Cameras. Journal of The Korea Society of Computer and Information. 2017; 22(12) 17-25. doi: 10.9708/jksci.2017.22.12.017
Kim, Young-Ju. Person Tracking by Detection of Mobile Robot using RGB-D Cameras. 2017; 22(12), 17-25. Available from: doi:10.9708/jksci.2017.22.12.017
Kim, Young-Ju. "Person Tracking by Detection of Mobile Robot using RGB-D Cameras" Journal of The Korea Society of Computer and Information 22, no.12 (2017) : 17-25.doi: 10.9708/jksci.2017.22.12.017